CN112045706B - Ratchet self-locking submarine cable lifting mechanical claw - Google Patents
Ratchet self-locking submarine cable lifting mechanical claw Download PDFInfo
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- CN112045706B CN112045706B CN202010720066.3A CN202010720066A CN112045706B CN 112045706 B CN112045706 B CN 112045706B CN 202010720066 A CN202010720066 A CN 202010720066A CN 112045706 B CN112045706 B CN 112045706B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
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- Load-Engaging Elements For Cranes (AREA)
Abstract
The invention discloses a ratchet self-locking mechanical jaw for lifting a submarine cable, which comprises a grabbing structure and a locking structure, wherein the grabbing structure is used for grabbing a cable, and the locking structure is used for locking the grabbing structure. The ratchet self-locking submarine cable lifting mechanical claw is carried by a remote control diving robot, and submarine cables can be safely, conveniently and economically salvaged. According to the invention, by utilizing the principle of ratchet self-locking, when the trigger plate is lifted for the first time, the two clamping jaws can be clamped by the locking plate, and when the trigger plate is lifted again, the two clamping jaws can be released by the locking plate, so that the cable can be grabbed and released. The invention realizes the control of grabbing and releasing in a purely mechanical mode, does not need electric power, and is simple and reliable. The device is convenient for the underwater salvage work represented by submarine cables to be carried out, and provides a more convenient solution for the salvage and maintenance of the submarine cables.
Description
Technical Field
The invention relates to the field of submarine cable lifting, in particular to a ratchet self-locking mechanical claw for submarine cable lifting.
Background
Submarine cables are operated on the seabed throughout the year after being laid, but the complicated and severe submarine environment can cause damage to the submarine cables. One of the serious damages is ocean current scouring, and silt at the bottom of the cable is gradually washed away, so that the cable is in a suspended section and only depends on the seabed reefs as supporting points. With the continuous impact of the ocean current, the suspended section of the cable shakes and moves, and at the moment, the reef supporting point can cause serious damage to the outer skin of the cable. In the operation and maintenance process of the submarine cable, finding and repairing the damage points is an important link, and the cable needs to be salvaged to a mother ship for repair. At present, a common fishing method is frogman fishing, but the frogman fishing has large danger coefficient and high cost. With the increasing number of work tasks and the increasing difficulty, the drawbacks of frogman solutions have gradually emerged.
The existing robot fishing mode is that a robot holds a target object by using a mechanical arm, and a shipborne crane pulls up the robot. When the crane-robot-target object mode is used for fishing heavy submarine cables, the robot is used as an intermediate connection point and bears huge tensile load, so that the robot is easily damaged.
Disclosure of Invention
Aiming at the problems in the existing submarine cable fishing process, the invention provides a ratchet self-locking submarine cable lifting mechanical claw.
The invention adopts the following technical scheme:
the ratchet self-locking submarine cable lifting mechanical claw comprises a grabbing structure and a locking structure, wherein the grabbing structure comprises two support plates, a main shaft is connected between the lower parts of the two support plates, a first clamping jaw piece and a second clamping jaw piece which are oppositely arranged are rotatably connected to the main shaft, the first clamping jaw piece comprises an arc-shaped first clamping jaw, the second clamping jaw piece comprises an arc-shaped second clamping jaw, a first shaft sleeve is arranged at the upper end of the first clamping jaw, a second shaft sleeve is arranged at the upper end of the second clamping jaw, a longitudinal first groove is formed in the bottom of the periphery of the first shaft sleeve, a longitudinal second groove is formed in the bottom of the periphery of the second shaft sleeve, the first shaft sleeve and the second shaft sleeve are sleeved on the main shaft, when the first clamping jaw and the second clamping jaw are closed, the first groove is aligned with the second groove, and when the first clamping jaw and the second clamping jaw are opened, the first groove is staggered with the second groove;
the locking structure comprises a locking plate and a mounting frame rod, the front end and the rear end of the mounting frame rod are fixed in the middle of the two support plates, a transverse frame plate is arranged at the bottom of the middle of the mounting frame rod, ratchet wheel sleeves are connected to the lower parts of the left side and the right side of the frame plate, and ratchet wheel assemblies are connected in the ratchet wheel sleeves;
the locking plate is positioned below the first shaft sleeve and the second shaft sleeve, a raised convex strip is longitudinally arranged in the middle of the locking plate, through holes are formed in the inner two sides of the middle of the locking plate, vertical connecting plates are arranged on the outer two sides of the middle of the locking plate, and a connecting sheet is arranged at the top of each connecting plate;
the ratchet wheel assembly comprises a driven ratchet wheel piece and a driving ratchet wheel piece, the driving ratchet wheel piece is connected with the driven ratchet wheel piece, the driving ratchet wheel piece is connected in the through hole in a penetrating mode, the bottoms of the two driving ratchet wheel pieces are connected through a trigger plate, the trigger plate is located below the locking plate, the top of the driven ratchet wheel piece is connected with the connecting piece, the driving ratchet wheel piece can be driven to move upwards through the trigger plate and be clamped on the inner wall of the ratchet wheel sleeve in the state that the first groove and the second groove are aligned, and therefore the convex strips of the locking plate are inserted into the first groove and the second groove; the drive ratchet piece can also drive the driven ratchet piece to move down from the inner wall of the ratchet sleeve, so that the convex strip of the locking plate is separated from the first groove and the second groove.
Preferably, the lifting device further comprises a lifting shaft, and the front end and the rear end of the lifting shaft are fixed on the upper parts of the two support plates.
Preferably, the first jaw member and the second jaw member are identical in structure;
the lower parts of the first clamping jaw and the second clamping jaw are bent outwards to form a jaw hook, and arc-shaped notches are formed in the middle positions of the upper parts of the first clamping jaw and the second clamping jaw; the first shaft sleeves and the second shaft sleeves are two, the two first shaft sleeves are located on two sides of the notch of the first clamping jaw, the two second shaft sleeves are located on two sides of the notch of the second clamping jaw, and the first shaft sleeves and the second shaft sleeves are placed in a staggered mode and sequentially penetrate through the main shaft after the upper portions of the first clamping jaw and the second clamping jaw are in butt joint.
Preferably, the ratchet sleeve and the attachment plate are disposed at the notch.
Preferably, 4 arc-shaped convex plates are annularly arranged on the inner wall of the ratchet sleeve, a vertical guide channel is formed between every two convex plates, the upper end face of each convex plate is provided with an inclined leading-in face and an inclined leading-out face, the leading-in face and the leading-out face are in a sawtooth shape, and a clamping groove is formed between the leading-in face and the leading-out face.
Preferably, the driven ratchet wheel part comprises a driven ratchet wheel and a guide post, the driven ratchet wheel is arranged in the ratchet wheel sleeve, 4 convex edges are arranged on the periphery of the driven ratchet wheel, the lower end surfaces of the convex edges are inclined planes, a round hole is formed in the driven ratchet wheel, and an insertion post is arranged at the lower part of the driven ratchet wheel;
the convex edge can slide in the guide channel, and the inclined surface of the convex edge can slide into or out of the clamping groove;
the guide post is inserted in the round hole, the spring is sleeved on the guide post, the upper end of the guide post penetrates through the frame plate and is fixedly connected with the connecting piece, the upper end of the spring abuts against the lower surface of the frame plate, the lower end of the spring abuts against the round hole, and the driven ratchet wheel can drive the guide post to move upwards and compress the spring.
Preferably, the driving ratchet wheel piece comprises a driving ratchet wheel, the driving ratchet wheel is connected in the ratchet wheel sleeve in a sliding manner, the lower end of the driving ratchet wheel is connected with a connecting rod, the connecting rod is connected in the through hole in a penetrating manner and can slide in the through hole, and the lower end of the connecting rod is connected with the trigger plate;
the upper part of the driving ratchet wheel is provided with a socket, the circumferential direction of the upper end surface of the driving ratchet wheel is provided with a plurality of helical teeth, and the circumferential direction of the outer wall of the upper part of the driving ratchet wheel is provided with 4 guide blocks;
the guide block is connected in the guide channel in a sliding manner, the inclined teeth can be contacted with the inner sides of the inclined surfaces of the convex edges, and the insertion columns can be inserted into the insertion openings;
the inclined teeth on the driving ratchet wheel can push the convex edges upwards and guide the convex edges into the clamping grooves from the guide channel, so that the locking of the locking plate is completed; the inclined teeth on the driving ratchet wheel can also guide the convex edges from the clamping groove to the guide channel.
Preferably, when the first clamping jaw and the second clamping jaw are closed and locked, the first groove and the second groove are aligned, the connecting rod is moved to move upwards through the trigger plate, the connecting rod drives the driving ratchet wheel to move upwards, the inclined teeth on the driving ratchet wheel upwards push the convex edges, the convex edges are guided into the clamping grooves from the guide channel, and the convex strips of the locking plate are inserted into the first groove and the second groove at the moment;
when the first clamping jaw and the second clamping jaw are unlocked, the connecting rod is moved to move upwards through the trigger plate, the connecting rod drives the driving ratchet wheel to move upwards, the inclined teeth on the driving ratchet wheel guide the convex edges from the clamping grooves into the guide channel, and the driven ratchet wheel and the guide post move downwards under the action of the spring, so that the convex strips of the locking plate are separated from the first groove and the second groove.
The invention has the beneficial effects that:
the ratchet self-locking submarine cable lifting mechanical claw provided by the invention is carried by a remote control diving robot, and can safely, conveniently and economically realize the fishing of submarine cables. According to the invention, by utilizing the principle of ratchet self-locking, when the trigger plate is lifted for the first time, the two clamping jaws can be clamped by the locking plate, and when the trigger plate is lifted again, the two clamping jaws can be released by the locking plate, so that the cable can be grabbed and released. The invention realizes the control of grabbing and releasing in a purely mechanical mode, does not need electric power, and is simple and reliable. The device is convenient for the underwater salvage work represented by submarine cables to be carried out, and provides a more convenient solution for the salvage and maintenance of the submarine cables.
Drawings
Fig. 1 is a structural top view of a ratchet self-locking submarine cable lifting gripper.
Fig. 2 is a structural lower view of a ratchet self-locking submarine cable lifting gripper.
Fig. 3 is a schematic view of the first jaw member.
Fig. 4 is a schematic view of the alignment of the first and second grooves.
Fig. 5 is a schematic view of the first and second grooves being staggered.
Fig. 6 is a schematic structural view of the mounting bracket rod.
Fig. 7 is a schematic view of the locking structure.
Fig. 8 is a partial structural schematic view of a ratchet self-locking submarine cable lifting gripper.
Fig. 9 is a partial schematic view of the locking mechanism.
Fig. 10 is a schematic view of the internal structure of the ratchet sleeve.
Fig. 11 is a schematic structural view of the convex plate.
FIG. 12 is a schematic view of the driven ratchet.
FIG. 13 is a schematic view of the drive ratchet and connecting rod.
Detailed Description
The following description of the embodiments of the present invention will be made with reference to the accompanying drawings:
with reference to fig. 1 to 13, the ratchet self-locking submarine cable lifting mechanical claw comprises a grabbing structure and a locking structure.
The grabbing structure comprises two support plates 1, a main shaft is connected between the lower parts of the two support plates, two first clamping jaw pieces and two second clamping jaw pieces which are arranged oppositely are connected to the main shaft in a rotating mode, and the first clamping jaw pieces and the second clamping jaw pieces are identical in structure.
First clamping jaw spare includes curved first clamping jaw 2, and second clamping jaw spare includes curved second clamping jaw 3, and the upper end of first clamping jaw is provided with first axle sleeve 4, and the upper end of second clamping jaw is provided with second axle sleeve 5.
The bottom of the periphery of the first shaft sleeve is provided with a longitudinal first groove 6, the bottom of the periphery of the second shaft sleeve is provided with a longitudinal second groove 7, and the first shaft sleeve and the second shaft sleeve are sleeved on the main shaft.
When the first clamping jaw and the second clamping jaw are closed, the first groove and the second groove are aligned, and when the first clamping jaw and the second clamping jaw are opened, the first groove and the second groove are staggered.
The lower parts of the first clamping jaw and the second clamping jaw are bent outwards to form a clamping jaw hook 8, and the structure can facilitate the cable to be squeezed into a space closed by the two clamping jaws.
Arc-shaped gaps 9 are formed in the middle positions of the upper portions of the first clamping jaw and the second clamping jaw, and the gaps are reserved for the ratchet sleeve and the connecting plate.
The first shaft sleeves and the second shaft sleeves are two, the two first shaft sleeves are located on two sides of the notch of the first clamping jaw, the two second shaft sleeves are located on two sides of the notch of the second clamping jaw, and the first shaft sleeves and the second shaft sleeves are placed in a staggered mode and sequentially penetrate through the main shaft after the upper portions of the first clamping jaw and the second clamping jaw are in butt joint.
Thus, the first and second recesses are offset from one another after the first and second jaws are opened. As shown in fig. 5.
The first and second recesses are aligned when the first and second jaws are closed. As shown in fig. 4.
Under the alignment state of the first groove and the second groove, the first clamping jaw and the second clamping jaw can be locked through the locking structure, and the first clamping jaw and the second clamping jaw are ensured to be closed and fixed.
Specifically, as shown in fig. 6 and 7, the locking structure includes a locking plate 10 and a mounting rod 11, the front and rear ends of the mounting rod are fixed in the middle of the two support plates, a transverse frame plate 12 is arranged at the bottom of the middle of the mounting rod, ratchet sleeves 13 are connected to the lower portions of the left and right sides of the frame plate, and ratchet assemblies are connected in the ratchet sleeves.
The locking plate 10 is located below the first shaft sleeve and the second shaft sleeve, the locking plate is integrally arc-shaped, a raised convex strip 14 is longitudinally arranged in the middle of the locking plate, through holes are formed in the two sides of the middle of the locking plate, vertical connecting plates 15 are arranged on the two sides of the middle of the locking plate, connecting plates 16 are arranged at the tops of the connecting plates, and the connecting plates are arranged above the frame plates.
Wherein, the sand grip can the joint in first recess and the second recess after the alignment.
The ratchet sleeve and the connecting plate are arranged at the notch.
Fig. 8 is a schematic structural view of the gripper with the second jaw member removed to clearly show the internal structure of the gripper.
The ratchet wheel assembly comprises a driven ratchet wheel piece and driving ratchet wheel pieces, the driving ratchet wheel pieces are located below the driven ratchet wheel pieces and connected with the driven ratchet wheel pieces, the driving ratchet wheel pieces are connected in the through holes in a penetrating mode, the bottoms of the two driving ratchet wheel pieces are connected through a trigger plate 29, the trigger plate is located below the locking plate, and the top of each driven ratchet wheel piece is connected with the connecting piece.
Under the alignment state of the first groove and the second groove, the trigger plate moves the driving ratchet wheel piece to move upwards, the driving ratchet wheel piece can drive the driven ratchet wheel piece to move upwards and is clamped on the inner wall of the ratchet wheel sleeve, and therefore the convex strip of the locking plate is inserted into the first groove and the second groove, and the first clamping jaw and the second clamping jaw are closed and locked.
The driving ratchet wheel piece is driven to move upwards through the trigger plate, the driving ratchet wheel piece can drive the driven ratchet wheel piece to move downwards from the inner wall of the ratchet sleeve, and therefore the convex strip of the locking plate is separated from the first groove and the second groove, and the first clamping jaw and the second clamping jaw can be freely opened.
Specifically, as shown in fig. 10 and 11, 4 arc-shaped convex plates 17 are annularly arranged on the inner wall of the ratchet sleeve, a vertical guide channel 18 is formed between every two convex plates, the upper end surfaces of the convex plates are provided with inclined leading-in surfaces 19 and leading-out surfaces 20, the leading-in surfaces and the leading-out surfaces are in a sawtooth shape, and clamping grooves are formed between the leading-in surfaces and the leading-out surfaces.
The driven ratchet wheel piece includes driven ratchet wheel 21 and guide post 22, and driven ratchet wheel arranges in the ratchet sleeve, is provided with 4 bead 23 on the periphery of driven ratchet wheel, and the lower terminal surface of bead is the inclined plane, is provided with round hole 24 on the driven ratchet wheel, and the lower part of driven ratchet wheel is provided with plug-in connection post 25.
The convex edge can slide in the guide channel, and the inclined surface of the convex edge can slide into or out of the clamping groove.
The guide post is inserted in the round hole but is not fixed with the driven ratchet wheel.
The guide post is sleeved with a spring 26, the upper end of the guide post penetrates through the frame plate and is fixedly connected with the connecting piece, the upper end of the spring is abutted to the lower surface of the frame plate, the lower end of the spring is abutted to the round hole, and the driven ratchet wheel can drive the guide post to move upwards and compress the spring.
The drive ratchet member comprises a drive ratchet 27 which is slidably connected within a ratchet sleeve, the lower end of the drive ratchet is connected to a connecting rod 28 which is threaded into the through bore and is able to slide therein, and the lower end of the connecting rod is connected to a trigger plate 29.
The upper part of the driving ratchet wheel is provided with a socket, the circumferential direction of the upper end surface of the driving ratchet wheel is provided with a plurality of helical teeth 30, and the circumferential direction of the outer wall of the upper part of the driving ratchet wheel is provided with 4 guide blocks 31.
The guide block is connected in the guide channel in a sliding mode, the inclined teeth can be in contact with the inner side of the inclined face of the convex edge, and the inserting column can be inserted into the inserting opening.
The inclined teeth on the driving ratchet wheel can push the convex edges upwards and guide the convex edges into the clamping grooves from the guide channel, so that the locking of the locking plate is completed.
The inclined teeth on the driving ratchet wheel can also guide the convex edges from the clamping groove to the guide channel.
The gripper also includes a lifting shaft 32, the front and rear ends of which are fixed to the upper portions of the two support plates. The lifting shaft can be connected with a steel cable 33 in a penetrating way, and the other end of the steel cable is fixed on the shipborne crane.
When need be with first clamping jaw and second clamping jaw closure locking, first recess and second recess align, move the connecting rod through triggering the board and shift up, and the connecting rod drives the drive ratchet and shifts up, and the skewed tooth on the drive ratchet upwards promotes the bead to guide the bead from the direction passageway in to pressing from both sides the inslot, this in-process driven ratchet passes through the guide post and drives the locking plate and shift up, specifically is: the inclined teeth drive the convex edges to move to the uppermost ends of the guide-in surfaces from the guide channels, the inclined surfaces of the convex edges slide into the clamping grooves along the guide-in surfaces, the whole driven ratchet wheel is fixed in position, the convex strips of the locking plate move upwards and are inserted into the first grooves and the second grooves, and the first clamping jaw and the second clamping jaw are locked in a closed mode.
When first clamping jaw and second clamping jaw relieve the closure locking, pass through the trigger plate once more and drive the connecting rod and shift up, the connecting rod drives the drive ratchet and shifts up, and skewed tooth on the drive ratchet leads the bead to the direction passageway in from pressing from both sides the inslot, specifically does: the skewed tooth drives the bead to move upwards, so that the lowest end of the bead exceeds the uppermost end of the guide-out surface, the inclined surface of the bead slides into the guide channel along the guide-out surface, the driven ratchet wheel and the guide column move downwards under the action of the spring, the raised line of the locking plate is separated from the first groove and the second groove, and the unlocking of the first clamping jaw and the second clamping jaw is completed.
The ratchet self-locking submarine cable lifting mechanical claw provided by the invention has the following general working process:
the ratchet self-locking submarine cable lifting mechanical claw is carried on the remote control diving robot and can be in electromagnetic connection with the remote control diving robot, so that the remote control diving robot can freely capture or release the mechanical claw.
Fishing the cable:
the mother ship reaches the sea surface near the cable, a steel cable of a shipborne crane is connected with a lifting shaft on the mother ship, after the remote control diving robot is electromagnetically connected with the mechanical claw, the remote control diving robot drives the mechanical claw to dive to the cable, the remote control diving robot drives the closed part of the first clamping jaw and the second clamping jaw to be placed above the cable and continuously moves downwards, so that the cable self-closed part is extruded into the closed space of the two clamping jaws, the first clamping jaw and the second clamping jaw are not locked at the moment, the cable can be easily extruded into the closed space of the two clamping jaws, in the process, the remote control diving robot provides a visual field for an operator, continuously controls the mechanical claw to move downwards, so that the cable touches the trigger plate, the connecting rod moves upwards through the trigger plate, the connecting rod drives the ratchet wheel to move upwards, and drives the oblique teeth on the ratchet wheel to upwards push the convex edges, and lead to the clamp inslot in the bead self-steering passageway, the driven ratchet of this in-process passes through the guide post and drives the locking plate and shift up, specifically is: the inclined teeth drive the convex edges to move to the uppermost ends of the guiding surfaces from the inside of the guiding channels, the inclined surfaces of the convex edges slide into the clamping grooves along the guiding surfaces, the whole driven ratchet wheel is fixed in position, the convex strips of the locking plates move upwards and are inserted into the first grooves and the second grooves at the moment, the first clamping jaws and the second clamping jaws are locked in a closed mode, then the remote control diving robot is separated from the mechanical jaws, the remote control diving robot returns to a mother ship to stand by, and the shipborne crane pulls up the steel cable fishing cable; the first clamping jaw and the second clamping jaw are locked in a closed mode, so that the cable cannot fall off the mechanical jaw, in addition, in the lifting process, the gravity of the cable is downward, the tensile force of the steel cable is upward, and the cable cannot be triggered to the trigger plate;
returning the cable after maintenance:
the shipborne crane transfers the cable through the cable wire, and this in-process, cable gravity is downward, and the cable wire passes through gripper pulling force upwards, and the cable can not touch trigger plate, and after the cable touched the seabed, the manipulator continued to transfer, leaned on self gravity contact cable, and the cable touched trigger plate, and trigger plate moved the connecting rod and shifts up, and the connecting rod drives the drive ratchet and shifts up, and skewed tooth on the drive ratchet is with the bead from pressing from both sides the inslot guide to the direction passageway in, specifically does: the skewed tooth drives the bead to move up, make the lowermost extreme of bead exceed the top of leading out the face, the inclined plane of bead slides in the direction passageway along leading out the face, under the effort of spring, driven ratchet and guide post move down, make the sand grip of locking plate break away from first recess and second recess, accomplish the unblock of first clamping jaw and second clamping jaw, lift the cable wire, make the cable roll-off from the closed department of first clamping jaw and second clamping jaw, accomplish breaking away from of gripper and cable, at the in-process that this gripper breaks away from the cable, accessible remote control diving robot monitors the process of breaking away from, so that guarantee to break away from the process success.
It is to be understood that the above description is not intended to limit the present invention, and the present invention is not limited to the above examples, and those skilled in the art may make modifications, alterations, additions or substitutions within the spirit and scope of the present invention.
Claims (7)
1. The submarine cable lifting mechanical claw is characterized by comprising a grabbing structure and a locking structure, wherein the grabbing structure comprises two support plates, a main shaft is connected between the lower parts of the two support plates, two first clamping jaw pieces and two second clamping jaw pieces which are oppositely arranged are rotatably connected to the main shaft, each first clamping jaw piece comprises an arc-shaped first clamping jaw, each second clamping jaw piece comprises an arc-shaped second clamping jaw, a first shaft sleeve is arranged at the upper end of each first clamping jaw, a second shaft sleeve is arranged at the upper end of each second clamping jaw, a longitudinal first groove is formed in the bottom of the periphery of each first shaft sleeve, a longitudinal second groove is formed in the bottom of the periphery of each second shaft sleeve, the first shaft sleeve and the second shaft sleeve are sleeved on the main shaft, when the first clamping jaws and the second clamping jaws are closed, the first grooves and the second grooves are aligned, and when the first clamping jaws and the second clamping jaws are opened, the first grooves and the second grooves are staggered;
the locking structure comprises a locking plate and a mounting frame rod, the front end and the rear end of the mounting frame rod are fixed in the middle of the two support plates, a transverse frame plate is arranged at the bottom of the middle of the mounting frame rod, ratchet wheel sleeves are connected to the lower parts of the left side and the right side of the frame plate, and ratchet wheel assemblies are connected in the ratchet wheel sleeves;
the locking plate is positioned below the first shaft sleeve and the second shaft sleeve, a raised convex strip is longitudinally arranged in the middle of the locking plate, through holes are formed in the inner two sides of the middle of the locking plate, vertical connecting plates are arranged on the outer two sides of the middle of the locking plate, and a connecting sheet is arranged at the top of each connecting plate;
the ratchet wheel assembly comprises a driven ratchet wheel piece and a driving ratchet wheel piece, the driving ratchet wheel piece is connected with the driven ratchet wheel piece, the driving ratchet wheel piece is connected in the through hole in a penetrating mode, the bottoms of the two driving ratchet wheel pieces are connected through a trigger plate, the trigger plate is located below the locking plate, the top of the driven ratchet wheel piece is connected with the connecting piece, the driving ratchet wheel piece can be driven to move upwards through the trigger plate and be clamped on the inner wall of the ratchet wheel sleeve in the state that the first groove and the second groove are aligned, and therefore the convex strips of the locking plate are inserted into the first groove and the second groove; the drive ratchet piece can also drive the driven ratchet piece to move down from the inner wall of the ratchet sleeve, so that the convex strip of the locking plate is separated from the first groove and the second groove.
2. The ratcheting self-locking submarine cable lifting gripper according to claim 1, further comprising a lifting shaft, wherein the front end and the rear end of the lifting shaft are fixed on the upper parts of the two support plates.
3. The ratcheting self-locking subsea cable hoist gripper of claim 1, wherein the first and second jaw members are identical in construction;
the lower parts of the first clamping jaw and the second clamping jaw are bent outwards to form a jaw hook, and arc-shaped notches are formed in the middle positions of the upper parts of the first clamping jaw and the second clamping jaw; the first shaft sleeves and the second shaft sleeves are two, the two first shaft sleeves are located on two sides of the notch of the first clamping jaw, the two second shaft sleeves are located on two sides of the notch of the second clamping jaw, and the first shaft sleeves and the second shaft sleeves are placed in a staggered mode and sequentially penetrate through the main shaft after the upper portions of the first clamping jaw and the second clamping jaw are in butt joint.
4. The ratcheting self-locking subsea cable lifting gripper of claim 3, wherein the ratchet sleeve and the web are disposed at the notch.
5. The ratchet self-locking submarine cable lifting gripper according to claim 1, wherein 4 arc-shaped convex plates are annularly arranged on the inner wall of the ratchet sleeve, a vertical guide channel is formed between every two convex plates, the upper end surfaces of the convex plates are provided with inclined leading-in surfaces and inclined leading-out surfaces, the leading-in surfaces and the leading-out surfaces are in a sawtooth shape, and clamping grooves are formed between the leading-in surfaces and the leading-out surfaces.
6. The ratchet self-locking submarine cable lifting mechanical claw according to claim 5, wherein the driven ratchet member comprises a driven ratchet and a guide post, the driven ratchet is arranged in a ratchet sleeve, 4 convex ribs are arranged on the periphery of the driven ratchet, the lower end surfaces of the convex ribs are inclined surfaces, a round hole is formed in the driven ratchet, and an insertion post is arranged on the lower portion of the driven ratchet;
the convex edge can slide in the guide channel, and the inclined surface of the convex edge can slide into or out of the clamping groove;
the guide post is inserted in the round hole, the spring is sleeved on the guide post, the upper end of the guide post penetrates through the frame plate and is fixedly connected with the connecting piece, the upper end of the spring abuts against the lower surface of the frame plate, the lower end of the spring abuts against the round hole, and the driven ratchet wheel can drive the guide post to move upwards and compress the spring.
7. The ratchet self-locking submarine cable lifting gripper according to claim 6, wherein the driving ratchet member comprises a driving ratchet which is slidably connected in a ratchet sleeve, the lower end of the driving ratchet is connected with a connecting rod which is inserted in the through hole and can slide in the through hole, and the lower end of the connecting rod is connected with the trigger plate;
the upper part of the driving ratchet wheel is provided with a socket, the circumferential direction of the upper end surface of the driving ratchet wheel is provided with a plurality of helical teeth, and the circumferential direction of the outer wall of the upper part of the driving ratchet wheel is provided with 4 guide blocks;
the guide block is connected in the guide channel in a sliding manner, the inclined teeth can be contacted with the inner sides of the inclined surfaces of the convex edges, and the insertion columns can be inserted into the insertion openings;
the inclined teeth on the driving ratchet wheel can push the convex edges upwards and guide the convex edges into the clamping grooves from the guide channel, so that the locking of the locking plate is completed; the inclined teeth on the driving ratchet wheel can also guide the convex edges from the clamping groove to the guide channel.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010720066.3A CN112045706B (en) | 2020-07-24 | 2020-07-24 | Ratchet self-locking submarine cable lifting mechanical claw |
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| CN202010720066.3A CN112045706B (en) | 2020-07-24 | 2020-07-24 | Ratchet self-locking submarine cable lifting mechanical claw |
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| CN112045706B true CN112045706B (en) | 2021-09-14 |
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| CN113478510B (en) * | 2021-06-30 | 2022-12-02 | 江西机电职业技术学院 | Mechanical gripper |
| CN114138009B (en) * | 2021-11-19 | 2022-09-16 | 华录易云科技有限公司 | System and method for tracking hit-and-run vehicle in traffic accident |
| CN114523480B (en) * | 2022-02-18 | 2024-06-04 | 合肥合滨智能机器人有限公司 | Ultrasonic probe quick-change transverse hand-grabbing device |
| CN115140273B (en) * | 2022-09-05 | 2022-12-02 | 中国海洋大学 | Instrument device for assisting in salvaging personnel |
| CN116142426B (en) * | 2023-02-28 | 2023-08-29 | 青岛海洋地质研究所 | Underwater pipeline monitoring method based on deepwater submersible vehicle |
| CN117001709B (en) * | 2023-09-25 | 2024-01-26 | 运易通科技有限公司 | Intelligent distribution manipulator for logistics goods and distribution method thereof |
| CN118449077B (en) * | 2024-07-08 | 2024-09-17 | 国网山东省电力公司乳山市供电公司 | Submarine cable self-locking support structure |
| CN118589397B (en) * | 2024-08-07 | 2024-10-18 | 国网山东省电力公司莱西市供电公司 | Cable installation self-locking device, cable duct support and cable installation method |
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| TWI233832B (en) * | 2004-02-17 | 2005-06-11 | Yi-Chiang Yang | The ratchet is improved for the big model machine |
| CN203566719U (en) * | 2013-10-31 | 2014-04-30 | 山东航远工业装备股份有限公司 | Clamping jaw mechanism of seabed mechanical hand |
| CN205415668U (en) * | 2015-11-24 | 2016-08-03 | 重庆瑞霆塑胶有限公司 | It gets mechanism to press from both sides power of getting adjustable clamp |
| CN107984462B (en) * | 2018-01-08 | 2024-02-02 | 烟台德迈生物科技有限公司 | Ratchet wheel type rotation picking and placing manipulator |
| CN108748244A (en) * | 2018-05-23 | 2018-11-06 | 青岛万龙智控科技有限公司 | Push-press type grasping mechanism and its method |
| CN109015729A (en) * | 2018-10-08 | 2018-12-18 | 中国民用航空飞行学院 | A kind of latching mechanical pawl |
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